x,y,headinng,sonar_ang,read,expected
85.81477,29.748726,180.0,-90.0,20.0,19.708709716796875
85.81477,29.748726,180.0,-89.0,20.0,19.775846481323242
85.81477,29.748726,180.0,-88.0,20.0,19.849510192871094
85.81477,29.748726,180.0,-87.0,20.0,19.929819107055664
85.81477,29.748726,180.0,-86.0,20.0,20.016902923583984
85.81477,29.748726,180.0,-85.0,20.0,20.110902786254883
85.81477,29.748726,180.0,-84.0,21.0,20.211978912353516
85.81477,29.748726,180.0,-83.0,21.0,20.320293426513672
85.81477,29.748726,180.0,-82.0,21.0,20.436031341552734
85.81477,29.748726,180.0,-81.0,21.0,20.559398651123047
85.81477,29.748726,180.0,-80.0,21.0,20.690601348876953
85.81477,29.748726,180.0,-79.0,22.0,20.82988166809082
85.81477,29.748726,180.0,-78.0,22.0,20.97747802734375
85.81477,29.748726,180.0,-77.0,22.0,21.133663177490234
85.81477,29.748726,180.0,-76.0,22.0,21.298728942871094
85.81477,29.748726,180.0,-75.0,22.0,21.472991943359375
85.81477,29.748726,180.0,-74.0,23.0,21.656774520874023
85.81477,29.748726,180.0,-73.0,23.0,21.850448608398438
85.81477,29.748726,180.0,-72.0,23.0,22.054397583007812
85.81477,29.748726,180.0,-71.0,24.0,22.269025802612305
85.81477,29.748726,180.0,-70.0,255.0,22.49479866027832
85.81477,29.748726,180.0,-69.0,255.0,22.732194900512695
85.81477,29.748726,180.0,-68.0,255.0,22.98172378540039
85.81477,29.748726,180.0,-67.0,255.0,23.24394989013672
85.81477,29.748726,180.0,-66.0,255.0,23.51947593688965
85.81477,29.748726,180.0,-65.0,255.0,23.808975219726562
85.81477,29.748726,180.0,-64.0,255.0,24.11311149597168
85.81477,29.748726,180.0,-63.0,255.0,Infinity
85.81477,29.748726,180.0,-62.0,255.0,Infinity
85.81477,29.748726,180.0,-61.0,255.0,Infinity
85.81477,29.748726,180.0,-60.0,255.0,Infinity
85.81477,29.748726,180.0,-59.0,255.0,Infinity
85.81477,29.748726,180.0,-58.0,255.0,Infinity
85.81477,29.748726,180.0,-57.0,255.0,Infinity
85.81477,29.748726,180.0,-56.0,255.0,Infinity
85.81477,29.748726,180.0,-55.0,255.0,Infinity
85.81477,29.748726,180.0,-54.0,255.0,Infinity
85.81477,29.748726,180.0,-53.0,255.0,Infinity
85.81477,29.748726,180.0,-52.0,255.0,Infinity
85.81477,29.748726,180.0,-51.0,255.0,Infinity
85.81477,29.748726,180.0,-50.0,255.0,Infinity
85.81477,29.748726,180.0,-49.0,255.0,61.32339096069336
85.81477,29.748726,180.0,-48.0,255.0,16.981159210205078
85.81477,29.748726,180.0,-47.0,255.0,16.776653289794922
85.81477,29.748726,180.0,-46.0,255.0,16.582002639770508
85.81477,29.748726,180.0,-45.0,255.0,16.396759033203125
85.81477,29.748726,180.0,-44.0,255.0,16.22049331665039
85.81477,29.748726,180.0,-43.0,255.0,16.052814483642578
85.81477,29.748726,180.0,-42.0,61.0,15.89336109161377
85.81477,29.748726,180.0,-41.0,16.0,15.741790771484375
85.81477,29.748726,180.0,-40.0,16.0,15.59779167175293
85.81477,29.748726,180.0,-39.0,16.0,15.461073875427246
85.81477,29.748726,180.0,-38.0,16.0,15.331353187561035
85.81477,29.748726,180.0,-37.0,16.0,15.208390235900879
85.81477,29.748726,180.0,-36.0,16.0,15.091938018798828
85.81477,29.748726,180.0,-35.0,15.0,14.981795310974121
85.81477,29.748726,180.0,-34.0,15.0,14.877740859985352
85.81477,29.748726,180.0,-33.0,15.0,14.779595375061035
85.81477,29.748726,180.0,-32.0,15.0,14.687176704406738
85.81477,29.748726,180.0,-31.0,15.0,14.60032844543457
85.81477,29.748726,180.0,-30.0,15.0,14.518896102905273
85.81477,29.748726,180.0,-29.0,15.0,14.4427490234375
85.81477,29.748726,180.0,-28.0,14.0,14.371747016906738
85.81477,29.748726,180.0,-27.0,14.0,14.30577564239502
85.81477,29.748726,180.0,-26.0,14.0,14.244722366333008
85.81477,29.748726,180.0,-25.0,14.0,14.188498497009277
85.81477,29.748726,180.0,-24.0,14.0,14.137006759643555
85.81477,29.748726,180.0,-23.0,14.0,14.090155601501465
85.81477,29.748726,180.0,-22.0,14.0,14.047883987426758
85.81477,29.748726,180.0,-21.0,14.0,14.010125160217285
85.81477,29.748726,180.0,-20.0,14.0,13.976808547973633
85.81477,29.748726,180.0,-19.0,14.0,13.947892189025879
85.81477,29.748726,180.0,-18.0,14.0,13.923320770263672
85.81477,29.748726,180.0,-17.0,14.0,13.903067588806152
85.81477,29.748726,180.0,-16.0,14.0,13.887099266052246
85.81477,29.748726,180.0,-15.0,14.0,13.875383377075195
85.81477,29.748726,180.0,-14.0,14.0,13.867918968200684
85.81477,29.748726,180.0,-13.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-12.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-11.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-10.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-9.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-8.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-7.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-6.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-5.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-4.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-3.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-2.0,13.0,13.864670753479004
85.81477,29.748726,180.0,-1.0,13.0,13.864670753479004
85.81477,29.748726,180.0,0.0,50.0,13.864670753479004
85.81477,29.748726,180.0,1.0,13.0,13.864670753479004
85.81477,29.748726,180.0,2.0,13.0,13.865652084350586
85.81477,29.748726,180.0,3.0,14.0,13.87086296081543
85.81477,29.748726,180.0,4.0,14.0,13.880304336547852
85.81477,29.748726,180.0,5.0,14.0,13.89399242401123
85.81477,29.748726,180.0,6.0,14.0,13.911954879760742
85.81477,29.748726,180.0,7.0,14.0,13.960790634155273
85.81477,29.748726,180.0,8.0,14.0,13.960790634155273
85.81477,29.748726,180.0,9.0,14.0,13.991745948791504
85.81477,29.748726,180.0,10.0,14.0,14.027128219604492
85.81477,29.748726,180.0,11.0,14.0,14.066981315612793
85.81477,29.748726,180.0,12.0,14.0,14.111368179321289
85.81477,29.748726,180.0,13.0,14.0,14.16036605834961
85.81477,29.748726,180.0,14.0,14.0,14.21405029296875
85.81477,29.748726,180.0,15.0,14.0,14.272504806518555
85.81477,29.748726,180.0,16.0,14.0,14.335830688476562
85.81477,29.748726,180.0,17.0,15.0,14.404125213623047
85.81477,29.748726,180.0,18.0,15.0,14.477510452270508
85.81477,29.748726,180.0,19.0,15.0,14.556099891662598
85.81477,29.748726,180.0,20.0,15.0,14.640031814575195
85.81477,29.748726,180.0,21.0,15.0,14.729443550109863
85.81477,29.748726,180.0,22.0,15.0,14.824506759643555
85.81477,29.748726,180.0,23.0,15.0,14.925374984741211
85.81477,29.748726,180.0,24.0,15.0,15.032240867614746
85.81477,29.748726,180.0,25.0,16.0,15.145293235778809
85.81477,29.748726,180.0,26.0,16.0,15.264741897583008
85.81477,29.748726,180.0,27.0,16.0,15.3908109664917
85.81477,29.748726,180.0,28.0,16.0,15.523756980895996
85.81477,29.748726,180.0,29.0,16.0,15.663825988769531
85.81477,29.748726,180.0,30.0,17.0,15.811311721801758
85.81477,29.748726,180.0,31.0,17.0,15.96650505065918
85.81477,29.748726,180.0,32.0,17.0,16.129737854003906
85.81477,29.748726,180.0,33.0,17.0,16.301361083984375
85.81477,29.748726,180.0,34.0,18.0,16.481752395629883
85.81477,29.748726,180.0,35.0,18.0,16.67131996154785
85.81477,29.748726,180.0,36.0,18.0,16.8704891204834
85.81477,29.748726,180.0,37.0,18.0,17.079740524291992
85.81477,29.748726,180.0,38.0,19.0,17.299589157104492
85.81477,29.748726,180.0,39.0,19.0,17.53057289123535
85.81477,29.748726,180.0,40.0,19.0,17.773303985595703
85.81477,29.748726,180.0,41.0,20.0,18.02841567993164
85.81477,29.748726,180.0,42.0,20.0,18.296615600585938
85.81477,29.748726,180.0,43.0,21.0,18.578657150268555
85.81477,29.748726,180.0,44.0,255.0,18.875368118286133
85.81477,29.748726,180.0,45.0,255.0,19.187654495239258
85.81477,29.748726,180.0,46.0,255.0,19.516489028930664
85.81477,29.748726,180.0,47.0,255.0,19.862951278686523
85.81477,29.748726,180.0,48.0,255.0,20.228200912475586
85.81477,29.748726,180.0,49.0,255.0,20.613540649414062
85.81477,29.748726,180.0,50.0,255.0,21.02037239074707
85.81477,29.748726,180.0,51.0,255.0,Infinity
85.81477,29.748726,180.0,52.0,255.0,Infinity
85.81477,29.748726,180.0,53.0,255.0,Infinity
85.81477,29.748726,180.0,54.0,255.0,Infinity
85.81477,29.748726,180.0,55.0,255.0,Infinity
85.81477,29.748726,180.0,56.0,255.0,Infinity
85.81477,29.748726,180.0,57.0,255.0,Infinity
85.81477,29.748726,180.0,58.0,255.0,Infinity
85.81477,29.748726,180.0,59.0,255.0,Infinity
85.81477,29.748726,180.0,60.0,255.0,Infinity
85.81477,29.748726,180.0,61.0,255.0,Infinity
85.81477,29.748726,180.0,62.0,255.0,Infinity
85.81477,29.748726,180.0,63.0,255.0,Infinity
85.81477,29.748726,180.0,64.0,255.0,Infinity
85.81477,29.748726,180.0,65.0,255.0,Infinity
85.81477,29.748726,180.0,66.0,255.0,Infinity
85.81477,29.748726,180.0,67.0,255.0,Infinity
85.81477,29.748726,180.0,68.0,255.0,Infinity
85.81477,29.748726,180.0,69.0,255.0,Infinity
85.81477,29.748726,180.0,70.0,255.0,Infinity
85.81477,29.748726,180.0,71.0,255.0,Infinity
85.81477,29.748726,180.0,72.0,255.0,Infinity
85.81477,29.748726,180.0,73.0,255.0,Infinity
85.81477,29.748726,180.0,74.0,255.0,Infinity
85.81477,29.748726,180.0,75.0,255.0,Infinity
85.81477,29.748726,180.0,76.0,255.0,Infinity
85.81477,29.748726,180.0,77.0,255.0,Infinity
85.81477,29.748726,180.0,78.0,255.0,Infinity
85.81477,29.748726,180.0,79.0,255.0,Infinity
85.81477,29.748726,180.0,80.0,255.0,Infinity
85.81477,29.748726,180.0,81.0,255.0,Infinity
85.81477,29.748726,180.0,82.0,255.0,Infinity
85.81477,29.748726,180.0,83.0,255.0,Infinity
85.81477,29.748726,180.0,84.0,255.0,Infinity
85.81477,29.748726,180.0,85.0,255.0,Infinity
85.81477,29.748726,180.0,86.0,255.0,Infinity
85.81477,29.748726,180.0,87.0,255.0,Infinity
85.81477,29.748726,180.0,88.0,255.0,Infinity
85.81477,29.748726,180.0,89.0,255.0,Infinity
85.81477,29.748726,180.0,90.0,255.0,Infinity